Driver Station to FMS

UDP

Sent to 10.0.100.5 UDP port 1160 (from UDP port 1145).

Field	Length	Type	Comment
Sequence Num	2	uint16
Comm Version	1	uint8	Only 0x00 has been observed
Status Byte	1	Status	Contains control bits
Team Num	2	uint16
Battery	2	Battery	Battery voltage
Tags	N	Tags

Status

Field	Mask	Comment
E-Stop	x.......	0: Normal, 1: Emergency Stopped
Robot Comms Active	..x.....	0: No, 1: Yes
Radio Ping	...x....	0: No, 1: Yes
Rio Ping	....x...	0: No, 1: Yes
Enabled	.....x..	0: Disabled, 1: Enabled
Mode	......xx	0: TeleOp, 1: Test, 2: Autonomous
Reserved	.x......

Battery

Received as a uint16, XXYY. Voltage is calculated by: XX + YY/256

Tags

Field	Length	Type	Comment
Size	1	uint8
ID	1	uint8	See table below
Data	n		Depends on tag type

ID	Packet Type
0x00	Field Radio Metrics
0x01	Comms Metrics
0x02	Laptop Metrics
0x03	Robot Radio Metrics
0x04	PD Info

Field Radio Metrics (0x00)

Field	Length	Type	Comment
Signal Strength	1	uint8
Bandwidth Utilization	2	uint16

Comms Metrics (0x01)

Field	Length	Type	Comment
Lost Packets	2	uint16
Sent Packets	2	uint16
Average Trip Time	1	uint8

Laptop Metrics (0x02)

Field	Length	Type	Comment
Battery Percent	1	uint8
CPU Percent	1	uint8

Robot Radio Metrics (0x03)

Decompiling the Offseason FMS code shows “Robot Radio Metrics” in the enum, and a “UDPTagBridgeWifiMetrics”. Neither of which are used or handled, but I assume they are the same thing.

Field	Length	Type	Comment
Signal Strength	1	uint8
Bandwidth Utilization	2	uint16

PD Info (0x04)

Seems to be empty for now

Field	Length	Type	Comment

TCP

Sent to 10.0.100.5 TCP port 1750.

Field	Length	Type	Comment
Size	2	uint16	Including ID
ID	1	uint8	See table below (only of Size > 0)
Tags	n		Depends on tag type

Tags

ID	Tag
0x00	WPILib Version
0x01	RIO Version
0x02	DS Version
0x03	PDP Version
0x04	PCM Version
0x05	CANJag Version
0x06	CANTalon Version
0x07	Third Party Device Version
0x15	Usage Report
0x16	Log Data
0x17	Error and Event Data
0x18	Team Number
0x1b	Challenge Response
0x1c	DS Ping

Versions all take the same format

Version

See above table for devices and their associated tag IDs.

Field	Length	Type	Comment
Status	n	string	<bad>, <good>, or <preferred>
Version	n	string

Usage Report (0x15)

Field	Length	Type	Comment
Team Num	2	uint16
Unknown	1	uint8
Entries	n	Entry Data

See Usage Reporting for details about the Entries format.

Log Data (0x16)

Field	Length	Type	Comment
Trip Time	1	uint8	This is round trip time, actual trip time is half of this
Lost Packets	1	uint8
Voltage	2	Battery	XXYY, XX + YY / 256
Robot Status	1	Status
CAN	1	uint8	Value is halved
SignalDb	1	uint8	Value is halved
Bandwidth	2	Bandwidth	round(float(uint16) / 256, 2)

Status

Field	Mask	Comment
Brownout	x.......
Watchdog	.x......
DS TeleOp	..x.....
DS Auto	...x....
DS Disable	....x...
Robot TeleOp	.....x..
Robot Auto	......x.
Robot Disable	.......x

Error and Event Data (0x17)

Field	Length	Type	Comment
Message Count	4	uint32	Number of messages to process
Timestamp	8	uint64	Number of seconds since 1904/01/01 00:00:00 GMT
Unknown	8		86 48 b0 00 00 00 00 00
Log Message	4 + n	string

Team Number (0x18)

Sent immediately upon TCP connection. Sending this triggers a challenge response.

Field	Length	Type	Comment
Team Num	2	uint16	Looks like it takes over the FMS’s Driver Station context associated with that team number. Would probably be bad to send another team’s number from your own station

Challenge Response (0x1b)

Used to verify if the Driver Station is “official”. Trivial to figure out the correct response from the off-season FMS, which isn’t incredibly useful.

Field	Length	Type	Comment
Response	n	string

As of 2017, there’s 23 possible responses. These change year to year.

ID	Response
0	Johnny Five
1	Data
2	ED-209
3	Bishop
4	NXT
5	Optimus Prime
6	Roomba
7	Rosie
8	The Terminator
9	HAL 9000
10	Sojourner
11	R2-D2
12	C-3PO
13	Wall-E
14	Curiosity
15	Opportunity
16	Spirit
17	Cylons
18	Stinky
19	Iron Giant
20	RCX
21	EV3
22	ASIMO

The correct response uses the Random Value sent by the Challenge Question.

id = ( (team number) * (random value) ) % 23

DS Ping (0x1c)

Just an empty tag. Sent by DS to FMS as a heartbeat.

Field	Length	Type	Comment